version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 57
start: 3 17 118 16 58 33
data:
$ID,626
$MISSION,2
$DIVE,57
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$D_NO_BLEED,100
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,66
$T_MISSION,220
$T_ABORT,70
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54699
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,211
$PITCH_MAX,3943
$C_PITCH,2413
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2028
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38618
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,2.21
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044050994
$SEABIRD_T_H,0.00064172823
$SEABIRD_T_I,2.5755839e-05
$SEABIRD_T_J,3.1466591e-06
$SEABIRD_C_G,-9.6491127
$SEABIRD_C_H,1.0791453
$SEABIRD_C_I,-0.0026383207
$SEABIRD_C_J,0.00025441265
$GPS1,170318,165237,2243.1743,-15535.8740,16,1.1,16,10.0,0.0,0.0,6,35.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.4
$GPS2,170318,165807,2243.2192,-15535.9287,16,1.1,16,10.0,0.7,3.3,6,32.6
$SPEED_LIMITS,0.175,0.244
$TGT_NAME,M3
$TGT_LATLONG,2211.600,-15551.700
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,149.8,64502,-19.8,-10.101,-22.47,1920
$D_GRID,200
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-126.5,196,2225,1083,1004,0.0,0.0,0,88,0.00,0.00,-68.22,0.000,16390,0.000,0.000,196,2226,3237,3259,3216,0,0,0,0,0,0,15.13,14.16,15.09
$GC,90,-0.78,-126.5,196,2226,3260,3216,3.5,-5.8,9,108,6.12,2.33,0.00,0.000,2564,0.426,0.041,2155,774,3239,3262,3216,0,0,0,0,0,0,14.71,14.86,14.93
$GC,122,-0.78,-126.5,2155,774,3264,3216,16.6,-37.4,13,131,0.00,2.30,0.00,0.000,3078,0.000,0.044,2154,2175,3239,3264,3215,0,0,0,0,0,0,14.94,14.89,14.95
$GC,380,-0.78,-126.5,2154,2177,3264,3216,74.8,-20.8,42,386,0.00,2.33,0.00,0.000,2308,0.000,0.060,2154,3606,3239,3264,3214,0,0,0,0,0,0,15.20,14.95,15.20
$GC,473,-0.78,-126.5,2154,3606,3264,3215,92.9,-18.4,50,480,0.00,2.25,0.00,0.000,3078,0.000,0.045,2154,2194,3240,3264,3216,0,0,0,0,0,0,15.07,15.00,15.07
$GC,730,-0.78,-126.5,2154,2194,3264,3216,140.6,-18.0,75,736,0.00,2.25,0.00,0.000,2564,0.000,0.059,2154,789,3240,3264,3216,0,0,0,0,0,0,15.24,15.02,15.24
$GC,766,-0.78,-126.5,2154,789,3264,3215,147.3,-17.2,78,772,0.00,2.25,0.00,0.000,3078,0.000,0.044,2154,2206,3239,3264,3215,0,0,0,0,0,0,15.11,15.03,15.12
$GC,1020,-0.78,-126.5,2154,2208,3264,3215,189.7,-15.0,103,1026,0.00,2.25,0.00,0.000,2308,0.000,0.061,2154,3603,3239,3264,3215,0,0,0,0,0,0,15.27,15.03,15.27
$GC,1089,-0.78,-126.5,2154,3603,3264,3216,198.7,-12.7,109,1094,0.00,2.22,0.00,0.000,3078,0.000,0.043,2154,2198,3239,3264,3215,0,0,0,0,0,0,15.13,15.06,15.14
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1103,-0.16,0.0,2154,2004,3264,3215,200.6,-12.6,110,1195,0.55,0.00,88.18,1.514,10246,0.262,0.000,2363,2004,2719,2799,2639,0,0,0,0,0,0,14.92,14.57,14.01
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1197,0.78,126.5,2363,2004,2797,2639,203.9,0.0,112,1296,0.68,2.42,89.50,1.963,11012,0.150,0.054,2647,3439,2203,2278,2129,0,0,0,0,0,0,14.52,14.35,13.69
$GC,1370,0.78,126.5,2647,3440,2277,2129,189.3,14.0,121,1377,0.00,2.28,0.00,0.000,3078,0.000,0.047,2658,2054,2203,2277,2129,0,0,0,0,0,0,14.75,14.67,14.76
$GC,1616,0.78,126.5,2657,2054,2277,2129,158.1,11.4,146,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2054,2203,2277,2129,0,0,0,0,0,0,15.11,15.12,15.12
$GC,1856,0.78,126.5,2657,2054,2277,2128,129.0,11.3,170,1861,0.00,2.33,0.00,0.000,516,0.000,0.060,2669,621,2202,2277,2127,0,0,0,0,0,0,15.19,14.97,15.20
$GC,1949,0.78,126.5,2669,621,2277,2128,118.3,11.8,178,1958,0.00,2.28,0.00,0.000,5126,0.000,0.039,2669,2024,2202,2277,2127,0,0,0,0,0,0,15.00,14.97,15.04
$GC,2198,0.81,151.1,2669,2025,2277,2126,91.4,8.8,203,2218,0.00,0.00,16.52,1.401,8198,0.000,0.000,2669,2026,2103,2178,2028,0,0,0,0,0,0,15.23,14.91,14.36
$GC,2459,0.81,151.1,2669,2027,2178,2026,63.5,11.3,229,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2027,2101,2177,2026,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2707,0.82,160.8,2669,2027,2178,2025,36.5,9.6,254,2721,0.00,2.28,6.43,0.966,10500,0.000,0.053,2669,3437,2062,2141,1983,0,0,0,0,0,0,15.23,14.87,14.48
$GC,2735,0.82,160.8,2669,3437,2141,1983,33.5,10.4,256,2741,0.00,2.28,0.00,0.000,5126,0.000,0.046,2680,2023,2062,2141,1983,0,0,0,0,0,0,15.06,14.98,15.07
$STATE,2998,end climb,SURFACE_DEPTH_REACHED
$STATE,2998,begin surface coast
$FINISH,0.3,1.023730
$STATE,3024,end surface coast,CONTROL_FINISHED_OK
$STATE,3024,begin surface
$SM_CCo,3037,129.98,0.147,0,0,1045,410.13
$SM_GC,1.28,5.62,0.30,129.98,0.085,0.060,0.147,196,2228,1045,-6.81,-1.07,410.13,0,0,0,0,0,0,15.02,15.02,14.85
$IRIDIUM_FIX,2232.34,-15534.72,170318,165326
$TT8_MAMPS,0.019474,0.325815
$HUMID,39.56
$INTERNAL_PRESSURE,9.5635
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.69,16.629
$10V_AH,13.96,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.975,32.575,200.625,129.975,0.000,28.343,51.993,151.292,7.750,0.000,17.128,878.432,967.917,394.459,1234.283,43.384,0.000,740.631,0.000,948.607,0.000,48.577,0.000
$DEVICE_MAMPS,426.105,71.145,1962.990,146.880,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,203.040,216.760,394.284,436.066,668.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343136
$DATA_FILE_SIZE,27415,302
$CAP_FILE_SIZE,47568,0
$CFSIZE,2097086464,2089582592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.454,319.37,1
$GPS,170318,175201,2243.447,-15536.384,8,1.1,8,10.0,0.5,319.3,5,-1.0